A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot

  title={A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot},
  author={Koichi Suzumori and Satoshi Endo and Takefumi Kanda and Naomi Kato and Hiroyoshi Suzuki},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
This paper shows a new design and prototyping method for a bending pneumatic rubber actuator and its application to a soft-bodied manta swimming robot. The design is based on optimal design using non-linear finite element method, in which geometrical and material non-linearity are considered and fabrication process is based on a rapid and efficient prototyping system using a CAD/CAM based rubber molding process. In this paper, the characteristics of several possible actuators are analyzed and… CONTINUE READING
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